JP7575131B2 - USER CONTROLLER WITH USER PRESENCE DETECTION, ASSOCIATED SYSTEMS AND METHODS - Patent application - Google Patents

Description

Various embodiments herein relate to user presence detection in a multi-degree-of-freedom user input device for use in systems such as robotic medical device systems.

A multi-degree-of-freedom user input device requires that the mass of the input device be supported by the user.
An example of such a conventional input device is shown in Figures 1-2B. Figure 1 shows a multi-degree-of-freedom user input device 8 for a user's left hand. To interface with the device 8, the user places the palm of his or her left hand on the body 10 of the user controller 8, the index finger on the index finger interface 12 that can be moved relative to the body 10 by means of a rotational link 14, and the thumb in the thumb groove 16. The body 10 of the user interface 8 is coupled to a multi-degree-of-freedom positioning or sensing system via a linkage 18. The user's hand is constrained to the device 8 by both the thumb interface 20 and the index finger interface 22 to provide forces and torques to move the user interface 8.

2A and 2B show the ability for the user to further input the opening and closing of the index finger interface 12, which is coupled to the body 10 using a link 14 and a rotary joint 30. A minimum displacement 32 (as shown in FIG. 2A) and a maximum displacement 34 (as shown in FIG. 2B) can be measured and used as additional control signals. The thumb constraint 20 and index finger constraint 22 provide limits to allow the user to maintain control of the body 10 while moving the gripping device through its range of motion. Such limits make it difficult for the user to disengage from the device 8 in a regulated manner while still allowing the user to input another control signal.

Furthermore, in order for the user to disengage from the device in a controlled manner, support of the input device must be transferred to the input device itself or the signal being output by the device must be terminated. That is, during use, the input device is supported or maintained in an operable position by the user's hands, but upon removal of the user's hands from the input device without mechanical force applied by the system itself, the input device is pulled downward by gravity. As a result, the robotic device or components operably coupled to the input device may move or actuate in undesirable ways.

There is a need in the art for improved methods and apparatus for detecting the presence of a user at, on, or with a user input device.
Described herein are various user controllers for use with various systems, including robotic surgical systems.

In a first example, the user controller comprises a controller body and a thumb sheath coupled to the controller body. The thumb sheath includes a first sheath portion extending from the controller body and a second sheath portion extending from the first sheath portion, the second sheath portion being in a transverse manner relative to the first sheath portion. The first sheath portion, the second sheath portion, and the controller body define a thumb opening and an opening side.

The second example relates to a user controller according to the first example, where the first sheath portion, the second sheath portion, and the controller body do not form a 360° enclosure around the thumb opening.

A third example relates to a user controller according to the first example, further including a light sensor disposed within the thumb opening.
A fourth example relates to a user controller according to the first example, further comprising a light emitter disposed on an inner wall of the thumb sheath and a light receiver disposed on the controller body, the light receiver being arranged to receive light emitted by the light emitter.

The fifth example relates to a user controller according to the first example, further comprising a light emitter disposed on the controller body and a light receiver disposed on an inner wall of the thumb sheath, the light receiver being positioned to receive light emitted by the light emitter.

A sixth example relates to the user controller according to the first example, further comprising a light emitter and a light receiver, the light emitter and the light receiver being disposed on the controller body.
A seventh example relates to a user controller according to the first example, further comprising a capacitance sensor disposed on the controller body within the thumb sheath.

An eighth example relates to a user controller according to the first example, further comprising a mechanical sensor disposed on the controller body within the thumb sheath.
A ninth example relates to a user controller according to the first example, wherein the thumb sheath is adjustable between a retracted position and an extended position.

A tenth example relates to a user controller according to the first example, further comprising a feedback signal component disposed on an outer surface of the thumb sheath, the feedback signal component being visible to a user.

An eleventh example relates to a user controller according to the first example, where the user's thumb is capable of disengaging from the thumb sheath via the thumb opening or open side.
In a twelfth example, a robotic surgical system includes a system controller, a robotic surgical device operably coupled to the system controller, and a user controller operably coupled to the system controller. The robotic surgical device includes a device body, at least one robotic arm operably coupled to the device body, and at least one end effector operably coupled to the robotic arm. The user controller includes a controller body and a thumb sheath coupled to the controller body, the thumb sheath and the controller body defining a thumb opening and a side opening.

A thirteenth example relates to the robotic surgical system according to the twelfth example, in which the thumb sheath includes a first sheath portion extending from the controller body and defining a first wall of the thumb opening, a second sheath portion extending from the first sheath portion and defining a second wall of the thumb opening, and a third wall of the thumb opening defined by the controller body.

A fourteenth example relates to the robotic surgical system according to the thirteenth example, wherein the lateral opening is defined between the second wall and the third wall.
A fifteenth example relates to a robotic surgical system according to the twelfth example, wherein the thumb sheath does not form a 360° enclosure around the thumb opening.

A sixteenth example relates to a robotic surgical system according to the twelfth example, further including a thumb presence sensor disposed within the thumb opening.
A seventeenth example relates to the robotic surgical system according to the sixteenth example, wherein the thumb presence sensor includes an optical sensor, a capacitive sensor, or a mechanical sensor.

An eighteenth example relates to the robotic surgical system according to the twelfth example, wherein the thumb sheath is adjustable between a retracted position and an extended position.
A nineteenth example relates to the robotic surgical system according to the twelfth example, further comprising a feedback signal component disposed on an outer surface of the thumb sheath, the feedback signal component being viewable by a user.

A twentieth example relates to the robotic surgical system according to the twelfth example, wherein the user's thumb can be disengaged from the thumb sheath via the thumb opening or the side opening.
While multiple embodiments are disclosed, still other embodiments of the present invention will become apparent to those skilled in the art from the following detailed description, which shows and describes illustrative embodiments of the invention. As embodied, the invention is capable of modification in various obvious aspects without departing from the spirit and scope of the invention. Accordingly, the drawings and detailed description are to be regarded as illustrative in nature and not restrictive.

FIG. 1 is a perspective view of a conventional user input device. FIG. 2 is a top view of the conventional user input device of FIG. 1; FIG. 2 is another top view of the conventional user input device of FIG. 1. 1 is a perspective view of a user input device having a thumb sheath according to one embodiment. FIG. 1 is a perspective view of a user input device having a thumb sheath and an optical-based sensor, according to one embodiment. 13 is a perspective view of a user input device having a thumb sheath and another optically-based sensor according to a further embodiment. FIG. 1 is a schematic diagram of a known circuit configuration for use with an optically-based sensor, according to one embodiment. FIG. 1 is a perspective view of a user input device with a thumb sheath and a capacitance sensor, according to one embodiment. FIG. 1 is a schematic diagram of a known circuit configuration for use with a capacitive sensor, according to one embodiment. 1 is a schematic diagram of a known circuit configuration for use with a mechanical sensor, according to one embodiment. FIG. 1 is a perspective view of a user input device having a thumb sheath and sensory signals according to one embodiment. 13 is a perspective view of a user input device having an adjustable thumb sheath in a retracted position according to a further embodiment. FIG. 13 is a perspective view of a user input device having an adjustable thumb sheath in an extended position according to a further embodiment. FIG. FIG. 1 is a perspective view of a user input device having a thumb sheath and a mechanical sensor, according to one embodiment.

Various embodiments herein relate to methods and devices for detecting user presence on or with a multi-degree-of-freedom user input device in which the user grasps the device using a pincer grasp. That is, various embodiments include a sheath on the input device configured to detect the presence of the user's hand. When the user's hand (or, more specifically, according to certain embodiments, the thumb) is detected by the sheath, the device transmits a signal (the "presence signal") to a system where the user is located and is enabled to control (e.g., a system controller component of the system, etc.). Upon removal of the hand, the absence of the "presence signal" is used to discontinue use of the device output or, if haptically enabled, to lock the device in place.

It is understood that the various user controller embodiments herein may be used in various robotic surgical systems, where the user controller is a user interface and is coupled to the surgical system, and the user controller may be used to control a robotic surgical device disposed in or within a patient's cavity. That is, the various user controller embodiments and related systems and methods disclosed herein may be incorporated into, used with, or used as part of any other conventional robotic surgical system, device, or method. For example, various embodiments disclosed herein may be implemented using any of the techniques disclosed herein, including, but not limited to, U.S. Pat. No. 8,968,332, filed Mar. 3, 2015 and entitled “Magnetically Coupleable Robotic Devices and Related Methods,” U.S. Pat. No. 8,834,488, filed Sep. 16, 2014 and entitled “Magnetically Coupleable Surgical Robotic Devices and Related Methods,” U.S. patent application Ser. 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Thus, the various user controller 8 embodiments disclosed or contemplated herein can be used with any robotic surgical system to operate a robotic device or component thereof, including instruments and the like, that are positioned within a target cavity or tissue of a patient or through an incision. In this manner, a user operates the user controller 8 using his or her thumb and index finger, thereby actuating the robotic device or component thereof to perform a desired procedure.

FIG. 3 illustrates a user controller 8 according to one embodiment having a thumb sheath 40 (also called an "enclosure," "sleeve," or "shroud") in place of the thumb restraint described above with respect to FIGS. 1-2B. As used herein, "sheath," "enclosure," "sleeve," or "shroud" means any structure that encloses a user's thumb on three sides but defines an opening on a fourth side through which the user can remove his or her thumb. The thumb sheath 40 encloses the thumb on two sides and the body 10 restrains the third side while leaving a single side open. More specifically, the sheath 40 has a first portion 40A extending from the body 10 and a second portion 40B extending from the first portion 40A in a direction substantially perpendicular to the first portion 40A to surround two sides around the thumb opening 48 such that the thumb opening 48 is defined by the first portion 40A, the second portion 40B, and the thumb groove 16. Alternatively, the device 8 need not have a thumb groove, and the body 10 can define a third side in such an embodiment. As a result, the thumb sheath 40 and thumb groove 16 or body 10 further define an open side 49 as shown. In contrast, the conventional thumb constraint 20 described above works with the thumb groove 16 to completely encircle or surround the thumb on four sides, i.e., a full 360° around the thumb.

In one embodiment, the thumb sheath 40 can sufficiently restrain the user's thumb when placed in the thumb opening 48 so that the thumb can be used together with the index finger to perform a "pinching motion" to move the index finger restraint 22 away from or towards the body 10 in the direction indicated by the arrow 42. The thumb sheath 40 can thus act similarly to the conventional thumb restraint 20 described above. However, in contrast to that restraint 20, the sheath 40 also allows two escape methods for the thumb. That is, the user's thumb can not only be retracted proximally back in the direction indicated by the arrow 46 in the same manner as possible with the conventional thumb restraint 20, but can also be moved out of the thumb opening 48 through the open side 49 in the direction indicated by the arrow 44. As can be seen from FIG. 3, the two possible escape directions are mutually perpendicular to the direction of pinching (indicated by the arrow 42). Thus, this configuration of the sheath 40 allows fine control of the pinching action while still allowing the user to disengage from the device 8 by releasing the thumb in a controlled and simple manner.

For clarity, the term "user controller" as used herein refers to various embodiments of a user input device that is manipulated by a user to provide input to and operate some portion of a robotic system. In contrast, the term "system controller" refers to any processor, computer, or other system controller component (such as a microprocessor) used to operate the system.

4 shows a further embodiment of a user controller 8 having a sensor 51 configured to detect the presence of a user's thumb. It will be appreciated that this embodiment of the controller 8 has a thumb sheath 40 substantially similar to the thumb sheath 40 described above, including the features and advantages as described. Additionally, in this exemplary embodiment, a user presence sensor 51 is incorporated into the sheath 40. The device 8 has a matched light emitter 50 disposed on the sheath 40 and a light receiver 52 disposed on the body 10. Alternatively, the light emitter may be on the body 10 and the light receiver on the sheath 40. In a further alternative, two or more such sensors may be incorporated into the device 8. The light emitter 50 and the light receiver 52 are positioned to generally align the path of light 54 emitted by the light emitter 50, indicated by the arrow 42, with the direction of motion of the pinch motion. In use, the light emitter 50 and the light receiver 52 are positioned such that light (visible or otherwise) from the light emitter 50 reaches the light receiver 52 when the user's thumb is not present. In contrast, when the user's thumb is present within the thumb opening 48, the path of the light 54 is blocked. The absence of this signal can then be used as an indication of the presence of the user (i.e., the presence of the user's thumb within the thumb opening 48), thereby indicating that the user is gripping the user controller 8. When the light path is blocked by the user's thumb, restoration of this signal is achieved by retracting the thumb in either of two directions indicated by arrows 44 and 46, which are perpendicular to the pinching direction indicated by arrow 42 and the light path 54 (as described above). This configuration of the sheath 40 and the sensor 51 allows for movement of the thumb in the pinching direction (as indicated by arrow 42) without passing light. This allows the sheath 40 to be loose enough so that disengagement is easily accomplished. That is, the size of the thumb opening 48 relative to the user's thumb does not affect the ability of the sensor 51 to detect its presence therein or to allow the user to perform a pinching action with the sheath 40.

Alternatively, any known sensor or sensor technology can be used with the user controller 8 to detect the presence (and absence) of the user's thumb within the sheath 40.

The sensor 51 allows the user controller 8 (and the system to which the controller 8 is coupled) to utilize information regarding the presence or absence of the user's thumb to enable or disable mechanical support of the user controller 8. That is, the sensor 51 is configured to send a "presence" signal to a system controller (not shown) of a system (not shown) when the thumb is inserted into the sheath 40, so that the system controller can disable mechanical support of the user controller 8. Similarly, the sensor 51 is configured to send an "absence" signal to the system controller (not shown) when the thumb is retracted from the sheath 40, so that the system controller can enable mechanical support of the user controller 8, thereby preventing gravity from moving the user controller 8 in an undesired manner and also preventing the controlled robotic device from being moved in an undesired manner.

5 shows an alternative embodiment of the user controller 8 having a reflected light sensor 61. That is, the user controller 8 has a light emitter 60 and a light receiver 62 embedded in the body 10 as shown, with emitted light 64 from the light emitter 60 returning to the light receiver 62 by the nearest occlusion as reflected light 66. In this configuration, the presence of the user's thumb within the sheath 40 provides a much shorter path than the sheath 40 to provide a corresponding stronger return signal than would be detected if the thumb were not present. This signal can then be thresholded to determine the binary presence/absence of the user's thumb. That is, a predetermined threshold can be set at which the user's thumb is understood to be present within the sheath 40 such that a "presence" signal is sent to the system controller (not shown). It is understood that in one embodiment, this embodiment has substantially the same features as the previous embodiment, including disengagement mode and insensitivity to motion in the direction of the pinch motion.

FIG. 6 illustrates an exemplary known circuit for use with a sensor such as either of sensors 51, 61 described above with respect to FIGS. 4 and 5 to detect the presence of a user's thumb within the sheath 40. In this embodiment, one or more pairs of infrared (IR) emitters and detectors similar to those described in FIG. 4 or FIG. 5 are provided. The presence of the user's thumb blocks IR light from the emitter from reaching the detector, causing an output state of the circuit to change. Each pair of emitters/detectors described detects presence using the circuit of FIG. 6. When the user's thumb is away from the device, phototransistor Q1 receives IR light from LED1. This turns on the transistor, causing current to flow through resistor R1, and a non-zero voltage to appear at the non-inverting input (pin 5) of comparator U1. If this voltage is higher than the inverting input of U1, as set by the voltage divider of R2 and R3, the output of the comparator turns on and the output voltage drops to "0". When detector Q1 is blocked, the transistor turns off and the output of the circuit goes to 5 volts. Alternatively, any known circuit or circuit configuration may be used for this purpose.

Figure 7 illustrates a further embodiment of a sensor 70 for use with the user controller 8. In this particular embodiment, instead of optical-based technology, the sensor 70 is a known capacitive sensor 70 disposed within the body 10 as shown. The capacitive sensor 70 functions like a known capacitive sensor 70 that operates to detect the presence of a user's thumb within the sheath 40. It will be appreciated that, according to one embodiment, this embodiment has substantially the same features, disengagement modes, and advantages as the previously described embodiment, including insensitivity to directional motion of the pinch motion.

Figure 8 illustrates an exemplary known circuit for use with a capacitance sensor, such as sensor 70 described above with respect to Figure 7, to detect the presence of a user's thumb within the sheath 40, according to another embodiment. One or more capacitance sensors are disposed on the inner surface of the thumb sheath, such as sensor 70 of Figure 7. In use, when a user's thumb is placed within the sheath 40, the capacitance changes, thereby changing the output state of the circuit. Alternatively, any known circuit or circuit configuration that works with a capacitance sensor can be used for this purpose.

12 illustrates a further embodiment of a sensor 120 for use in the user controller 8. In this particular embodiment, instead of optical or capacitance-based technology, the sensor 120 is a known mechanical sensor 120 disposed within the body 10 as shown. The mechanical sensor 120 functions as a known mechanical sensor 120 and operates to detect the presence of the user's thumb within the sheath 40. For example, the mechanical sensor 120 can be activated by the user's thumb pressing against the sensor 120, thereby indicating the thumb is present within the sheath 40. It will be appreciated that, according to one embodiment, this embodiment has substantially the same features, disengagement modes, and advantages as the previously described embodiment, including insensitivity to motion in the direction of the pinch motion.

9 shows an exemplary known circuit for use with a mechanical sensor, such as sensor 120 described above with respect to FIG. 12, that detects the presence of a user's thumb within the sheath 40, according to a further embodiment. In this embodiment, a mechanical switch (such as switch 120) is located inside the thumb sheath 40. In use, when the user's thumb reaches a home position, the switch is actuated and the output state of the circuit changes. When the user's thumb is not in the sheath, the switch is open and the output of the switch is pulled up to 5V. V1 inverts this signal to an output of 0 volts. When the thumb is placed within the sheath, the switch is pressed and the output of the circuit changes to 5V. Switch debouncing circuitry is a circuit that removes short-term transitions in the output when a mechanical switch is engaged and disengaged. Alternatively, any known circuit or circuit configuration that works with a mechanical sensor may be used for the purpose.

FIG. 10 illustrates a user controller 8 having a user sensory feedback signal component 100 according to one embodiment. That is, this particular embodiment has a signal component 100 that provides some kind of sensory feedback to the user as to whether the user's thumb is placed within the sheath 40. In the particular embodiment illustrated in FIG. 10, the feedback signal component 100 is a visual feedback component 100 in the form of an LED 100 located on the thumb sheath 40. Alternatively, any form of sensory feedback signal may be used. This feedback component 100 provides feedback to the user as to whether the system (not shown) has detected the presence of the user's thumb within the sheath 40. Feedback may be provided by multiple LEDs, an auditory, or other visual signal. In use, according to this embodiment, the LED 100 illuminates when the user's thumb is detected, thereby indicating that the thumb is placed within the sheath 40. It is understood that the user controller 8 having the user feedback signal component 100 may have any of the various sensor components disclosed or contemplated herein. Further, it should be understood that the user feedback signal component 100 may be incorporated into any other embodiment disclosed or contemplated herein.

11A and 11B show an adjustable sheath 40 according to one embodiment. More specifically, the sheath 40 in this particular embodiment can be moved between a retracted position as shown in FIG. 11A and an extended position as shown in FIG. 11B. In this manner, the sheath 40 can be adjusted to be positioned relative to the body 10 in a retracted position in which the thumb opening 48 has a minimum width as indicated by arrow 110 (as shown in FIG. 11A) or can be retracted away from the body 10 to an extended position in which the thumb opening 48 has a maximum width as indicated by arrow 112 (as shown in FIG. 11B). This adjustment allows the sheath 40 to accommodate a wide range of user thumb sizes while providing the user with sufficient control authority while allowing the user to disengage in a regulated manner. It is further understood that the user controller 8 having the adjustable sheath 40 can have any of the various sensors or sensory feedback components disclosed or contemplated herein. Additionally, it should be understood that the adjustable sheath 40 may be incorporated into any other embodiment disclosed or contemplated herein.

Although the present invention has been described with reference to preferred embodiments, those skilled in the art will recognize that changes may be made in form and detail without departing from the spirit and scope of the invention.

Claims (22)

A user controller,
(a) a controller body having a first side and a second side ;
( b ) a thumb sheath disposed on a first side of the controller body, the thumb sheath and the controller body defining a thumb opening and a side opening, the thumb opening being defined by the first side of the controller body, a first portion of the thumb sheath extending from the controller body, a second portion of the thumb sheath extending from the first portion of the thumb sheath, and the side opening being defined by the second portion of the thumb sheath and the first side of the controller body; and
( c ) a thumb presence sensor disposed within the thumb sheath, the thumb presence sensor configured to detect the presence of a user's thumb disposed within the thumb opening ;
A user controller, wherein the controller body is configured to be grasped on the first side by the user's thumb positioned in the thumb opening and to be grasped on the second side by the user's index finger . The user controller of claim 1 , wherein the thumb sheath and the controller body do not form a 360° enclosure around the thumb opening. The thumb presence sensor is
The user controller of claim 1 , further comprising a light sensor disposed within the thumb opening. The thumb presence sensor is
a light emitter disposed on an inner wall of the thumb sheath;
A light receiver disposed on the controller body,
The user controller of claim 1 , wherein the light receiver is positioned to receive light emitted by the light emitter. The thumb presence sensor is
A light emitter disposed in the controller body;
a light receiver disposed on an inner wall of the thumb sheath;
The user controller of claim 1 , wherein the light receiver is positioned to receive light emitted by the light emitter. The thumb presence sensor is
A light emitter and a light receiver are provided,
The user controller of claim 1 , wherein the light emitter and light receiver are disposed on the controller body. The thumb presence sensor is
The user controller of claim 1 , comprising a capacitance sensor disposed on a controller body within the thumb sheath. The thumb presence sensor is
The user controller of claim 1 , comprising a mechanical sensor located on a controller body within the thumb sheath. the thumb presence sensor includes a feedback signal component disposed on an exterior surface of the thumb sheath;
The user controller of claim 1 , wherein the feedback signal component is viewable by a user. The user controller of claim 1 , wherein a user's thumb is removable from the thumb sheath through the thumb opening or the side opening . 2. The user controller of claim 1, further comprising an index finger restraint operably coupled to the second side of the controller body such that the index finger restraint is movable away from or toward the controller body. 1. A robotic surgery system, comprising:
(a) a system controller;
(b) a robotic surgical device operably coupled to the system controller; and
(c) a user controller operably coupled to the system controller;
The user controller:
(i) a controller body;
(ii) a thumb sheath disposed on a first side of the controller body, the thumb sheath and the controller body defining a thumb opening and a side opening, the thumb sheath comprising:
(A) a first sheath portion extending from the controller body and defining a first wall of the thumb opening;
(B) a second sheath portion extending from the first sheath portion and defining a second wall of the thumb opening; and
(C) a third wall of the thumb opening defined by the first side of the controller body; and
( iii ) a thumb presence sensor disposed within the thumb sheath, the thumb presence sensor configured to detect the presence of a user 's thumb disposed within the thumb opening ;
A robotic surgery system, wherein the controller body is configured to be grasped in a pinch grip with the first side by the user's thumb placed in the thumb opening and the second side by the user's index finger . The robotic surgery system of claim 12, wherein the side opening is defined between the second wall and the third wall. The robotic surgery system of claim 12, wherein the thumb sheath does not form a 360° enclosure around the thumb opening. The robotic surgery system of claim 12, wherein the thumb presence sensor includes an optical sensor, a capacitive sensor, or a mechanical sensor. 13. The robotic surgical system of claim 12, further comprising an index finger restraint portion operably coupled to the controller body such that the index finger restraint portion is movable away from or toward the controller body . a feedback signal component disposed on an exterior surface of the thumb sheath;
The robotic surgical system of claim 12 , wherein the feedback signal component is viewable by a user. The robotic surgery system of claim 12, wherein the user's thumb is removable from the thumb sheath through the thumb opening or the side opening. A user controller,
(a) a controller main body;
(b) a thumb sheath disposed on a first side of the controller body, the thumb sheath being adjustable between a retracted position and an extended position;
The thumb sheath includes:
(i) a first sheath portion extending from the controller body;
(ii) a second sheath portion extending from the first sheath portion, the second sheath portion being in a substantially transverse direction relative to the first sheath portion; and
(iii) a thumb opening defined by the first sheath portion, the second sheath portion, and the controller body;
(iv) the thumb sheath including an open side defined by the second sheath portion and the controller body; and
(c) a thumb presence sensor disposed within the thumb sheath, the thumb presence sensor configured to detect the presence of a user's thumb disposed within the thumb opening;
A user controller, wherein the controller body is configured to be grasped on the first side by the user's thumb disposed in the thumb opening and to be grasped on the second side by the user's index finger. 20. The user controller of claim 19, wherein the first sheath portion, the second sheath portion, and the controller body do not form a 360 degree enclosure around the thumb opening. The thumb presence sensor is
A light emitter and a light receiver,
The user controller of claim 19 , wherein the light receiver is positioned to receive light emitted by the light emitter. The user controller of claim 19 , wherein a user's thumb is removable from the thumb sheath through the thumb opening or the open side.